Stability analysis of a vision-based control design for an autonomous mobile robot
(2006) 16th IFAC World Congress — Location: Prague(Czech Republic) (3.July.2005)
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- Authors
Bastin, Georges 
- Abstract
- We propose a simple control design allowing,a mobile robot equipped with a camera to track a line on the ground. The control algorithm, as well as the image-processing algorithm, are very simple. We discuss the existence and the practical stability of an equilibrium trajectory of the robot when tracking a circular reference line. We then give a complementary analysis for arbitrary reference lines with bounded curvature. Experimental results confirm the theoretical analysis.
- Affiliations
Citations
Coulaud, J.-B., Campion, G., Bastin, G., & De Wan, M. (2006). Stability analysis of a vision-based control design for an autonomous mobile robot. IEEE Transactions on Robotics, 22(5), 1062-1069. https://doi.org/10.1109/TRO.2006.878934 (Original work published 2006)